Continuous time adaptive identification and control algorithms via newly developed adaptive laws

Abstract

In the first part of this paper, a continuous time adaptive identification algorithm via newly developed adaptive laws is presented. The principle of the algorithm is very simple, nevertheless the convergence property is quite excellent. In the second half part, two continuous time adaptive control algorithms via adaptive laws, as were used for adaptive identification, are presented. A new canonical form for adaptive control is first developed for this purpose. The design procedure for adaptive control systems requires neither positive realness nor augmented error signals and can be applied irrespective of the relative degree of the plant transfer function.